Upon successful installation of kinect drivers, kinect can be interfaced with Baxter.
Install openni for kinect connectivity
$ rospack profile
You may need to reboot the robot to correctly install the camera drivers. To start publishing the kinect camera, run the openni_launch file:
You can now publish a static tf transform for the kinect connected to a frame on the robot like so:
If you launch rviz and add a camera linked to /camera/rgb/image_color and add a TF obect, deselecting Show Names and Show Axes, you should be able to see the output from the kinect with an icon indicating its relative position to the robot Using the transform: